/*******************************************************************************
* Outline : CB_CMT_Accelerometer
* Description : CMT interrupt callback function. This callback function is
* executed after every period of the CMT timer. The function
* fetches the ADXL345 accelerometer readings & updates the LED's.
* Argument : none
* Return value : none
*******************************************************************************/
void CB_CMT_Accelerometer(void)
{
#ifdef ACCELEROMETER_DEBUG
/* Declare display buffer */
uint8_t lcd_buffer[13];
#endif
uint16_t led;
short adjusted_X, adjusted_Y, adjusted_Z;
short slope = 0;
/* Display the contents of lcd_buffer onto the debug LCD */
Accel_X = Accel_AxisRd(ADXL345_DATAX0_REG);
Accel_Y = Accel_AxisRd(ADXL345_DATAY0_REG);
Accel_Z = Accel_AxisRd(ADXL345_DATAZ0_REG);
adjusted_X = Accel_X - Accel_X_Zero;
adjusted_Y = Accel_Y - Accel_Y_Zero;
adjusted_Z = Accel_Z - Accel_Z_Zero;
/* calculate the slope, make sure not dividing by zero */
if ( adjusted_X == 0 )
adjusted_X = 1;
slope = (100 * adjusted_Y) / adjusted_X;
#ifdef ACCELEROMETER_DEBUG
sprintf((char *)lcd_buffer, " x = %d" , adjusted_X);
DisplayLCD(LCD_LINE4, lcd_buffer);
sprintf((char *)lcd_buffer, " y = %d" , adjusted_Y);
DisplayLCD(LCD_LINE5, lcd_buffer);
sprintf((char *)lcd_buffer, " z = %d" , adjusted_Z);
DisplayLCD(LCD_LINE6, lcd_buffer);
#endif
// turn all LEDs off
/* Port D: All LED's off */
R_IO_PORT_Write( PDL_IO_PORT_D, 0xFF );
/* Port E: All LED's off */
R_IO_PORT_Write( PDL_IO_PORT_E, 0x0F );
/* ignore baseline noise */
if ((adjusted_X < 2) && (adjusted_X > -2 ) &&
(adjusted_Y < 2) && (adjusted_Y > -2 ))
return;
if ((slope > 0) && (slope < 55))
{
if ( adjusted_X < 0 )
led = PDL_IO_PORT_D_2; // LED 6
else
led = PDL_IO_PORT_D_3; // LED 12
}
else if ((slope >= 55) && (slope < 170))
{
if ( adjusted_X < 0 )
led = PDL_IO_PORT_E_3; // LED 5
else
led = PDL_IO_PORT_D_7; // LED 11
}
else if (slope >= 170)
{
if ( adjusted_X < 0 )
led = PDL_IO_PORT_D_5; // LED 4
else
led = PDL_IO_PORT_D_1; // LED 10
}
else if ((slope <= 0) && (slope > -55))
{
if ( adjusted_X > 0 )
led = PDL_IO_PORT_E_1; // LED 13
else
led = PDL_IO_PORT_E_0; // LED 7
}
else if ((slope <= -55) && (slope > -170))
{
if ( adjusted_X > 0 )
led = PDL_IO_PORT_D_0; // LED 14
else
led = PDL_IO_PORT_D_4; // LED 8
}
else if (slope <= -170)
{
if ( adjusted_X > 0 )
led = PDL_IO_PORT_D_6; // LED 15
else
led = PDL_IO_PORT_E_2; // LED 9
}
adjusted_Z = adjusted_Z ; /* Suppress compiler warning about not using this var */
// turn on the appropriate LED
R_IO_PORT_Modify( led, PDL_IO_PORT_XOR, 1 );
}
/**
* System timer tick
*
* This function is called from timer interrupt to increment a
* system timer tick. Also an LED on the target board is
* toggled to show activity.
*
*/
void int_cmt0_isr(void)
{
R_IO_PORT_Modify( LED4, PDL_IO_PORT_XOR, 1 );
timer_clock_ticks++;
}